version: 66.11
glider: 171
mission: 4
dive: 267
start: 4 3 113 3 13 36
data:
$ID,171
$MISSION,4
$DIVE,267
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,3
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,380
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52107
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20854.785
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3952
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3400
$C_VBD,2380
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0035000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-74.53199
$PRESSURE_SLOPE,0.0001165165
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043708701
$SEABIRD_T_H,0.00064764963
$SEABIRD_T_I,2.5888983e-05
$SEABIRD_T_J,2.7074855e-06
$SEABIRD_C_G,-10.475479
$SEABIRD_C_H,1.2050543
$SEABIRD_C_I,-0.0015894541
$SEABIRD_C_J,0.00021379974
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,030413,030724,2316.902,12201.910,53,1.0,54,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.6
$GPS2,030413,031307,2317.055,12202.012,16,1.0,16,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,HEADING
$TGT_LATLONG,2317.055,12150.255
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,273.1,20000,-10.6,-8.333,-15.41,4401
$D_GRID,4651
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-243.3,120,2507,854,662,0.0,0.0,0,79,0.00,0.00,-58.38,0.000,16386,0.000,0.000,120,2508,2480,2554,2406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.28,-243.3,120,2508,2558,2406,4.1,-8.1,8,114,9.00,1.90,-14.48,0.000,18692,0.222,0.067,2395,3674,3377,3436,3319,0,0,0,0,0,0,25.68,26.16,26.59
$GC,297,-1.28,-243.3,2394,3674,3436,3319,86.8,-38.0,25,305,0.00,1.75,0.00,0.000,1030,0.000,0.024,2395,2484,3378,3437,3319,0,0,0,0,0,0,28.83,26.40,28.83
$GC,605,-1.28,-243.3,2394,2483,3443,3320,191.4,-32.8,41,610,0.00,1.85,0.00,0.000,260,0.000,0.051,2386,3673,3381,3442,3320,0,0,0,0,0,0,28.83,26.33,28.83
$GC,720,-1.28,-243.3,2386,3673,3443,3321,222.7,-28.5,46,726,0.00,1.67,0.00,0.000,1030,0.000,0.024,2386,2500,3383,3443,3324,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1035,-1.28,-243.3,2385,2495,3444,3323,310.0,-26.7,62,1041,0.00,1.83,0.00,0.000,260,0.000,0.053,2377,3667,3383,3444,3322,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1110,-1.28,-243.3,2376,3667,3444,3323,329.5,-28.8,65,1117,0.12,1.67,0.00,0.000,3078,0.150,0.025,2410,2493,3383,3444,3322,0,0,0,0,0,0,26.28,26.58,28.83
$GC,1426,-1.28,-243.3,2410,2492,3445,3323,404.9,-22.6,81,1432,0.00,2.03,0.00,0.000,516,0.000,0.029,2410,1105,3383,3444,3322,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1466,-1.28,-243.3,2410,1105,3445,3323,410.3,-22.4,82,1475,0.00,2.10,0.00,0.000,1030,0.000,0.037,2400,2494,3384,3445,3323,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1771,-1.28,-243.3,2400,2494,3444,3323,479.4,-20.8,98,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2494,3382,3443,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2071,-1.28,-243.3,2400,2494,3444,3322,542.7,-20.3,113,2077,0.00,2.05,0.00,0.000,516,0.000,0.031,2400,1109,3382,3444,3321,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2105,-1.28,-243.3,2400,1108,3444,3321,547.8,-20.6,114,2111,0.00,2.12,0.00,0.000,1030,0.000,0.039,2390,2503,3382,3444,3321,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2429,-1.28,-243.3,2390,2500,3444,3318,621.0,-21.0,129,2435,0.00,1.83,0.00,0.000,260,0.000,0.054,2381,3677,3381,3444,3318,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2494,-1.28,-243.3,2380,3677,3444,3318,634.9,-21.0,131,2500,0.10,1.70,0.00,0.000,3078,0.158,0.025,2406,2489,3380,3444,3317,0,0,0,0,0,0,26.37,26.65,28.83
$GC,2829,-1.28,-243.3,2406,2488,3444,3311,700.8,-20.4,142,2835,0.00,2.03,0.00,0.000,516,0.000,0.029,2406,1108,3377,3444,3311,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2857,-1.28,-243.3,2406,1108,3444,3311,700.8,-20.4,142,2865,0.00,2.12,0.00,0.000,1030,0.000,0.039,2397,2503,3377,3444,3310,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3165,-1.28,-243.3,2396,2503,3443,3306,772.9,-21.8,153,3171,0.00,1.83,0.00,0.000,260,0.000,0.055,2388,3673,3374,3443,3306,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3245,-1.28,-243.3,2387,3673,3442,3306,787.2,-21.6,155,3251,0.00,1.67,0.00,0.000,1030,0.000,0.027,2388,2497,3373,3442,3305,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3564,-1.28,-243.3,2388,2497,3442,3301,858.4,-21.0,166,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2497,3371,3441,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3865,-1.28,-243.3,2387,2497,3439,3297,923.2,-21.2,176,3870,0.00,1.85,0.00,0.000,260,0.000,0.055,2379,3671,3368,3440,3297,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3892,-1.28,-243.3,2378,3671,3439,3294,923.2,-21.2,176,3901,0.12,1.67,0.00,0.000,3078,0.147,0.028,2413,2511,3368,3439,3297,0,0,0,0,0,0,26.31,26.63,28.83
$STATE,4017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4017,begin apogee
$GC,4023,-0.20,0.0,2412,1985,3437,3294,953.1,-18.7,181,4420,1.00,0.00,386.02,0.740,10246,0.115,0.000,2747,1984,2380,2536,2225,0,0,0,0,0,0,26.09,28.83,24.34
$STATE,4421,end apogee,CONTROL_FINISHED_OK
$STATE,4421,begin climb
$GC,4423,1.28,243.3,2747,1984,2529,2212,979.2,0.0,193,4808,1.33,2.28,370.23,0.737,10756,0.047,0.034,3249,626,1380,1494,1267,0,0,0,0,0,0,25.10,24.84,24.18
$GC,4872,1.28,243.3,3249,626,1475,1252,909.1,25.2,208,4879,0.00,2.20,0.00,0.000,1030,0.000,0.029,3250,2019,1362,1474,1251,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5207,1.28,243.3,3249,2019,1465,1243,823.0,25.9,219,5213,0.00,2.20,0.00,0.000,260,0.000,0.046,3247,3406,1353,1464,1243,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5241,1.28,243.3,3249,3407,1464,1243,813.8,26.3,220,5248,0.12,2.10,0.00,0.000,5126,0.180,0.028,3230,2011,1353,1464,1243,0,0,0,0,0,0,25.91,26.19,28.83
$GC,5577,1.28,243.3,3230,2011,1461,1241,733.0,24.3,231,5583,0.00,2.20,0.00,0.000,260,0.000,0.047,3230,3408,1351,1461,1241,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5611,1.28,243.3,3230,3408,1461,1241,724.1,24.6,232,5617,0.00,2.10,0.00,0.000,1030,0.000,0.028,3241,2002,1351,1461,1241,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5946,1.28,243.3,3241,2001,1459,1239,641.0,25.2,243,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2001,1349,1459,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6248,1.28,243.3,3241,2001,1458,1238,568.3,24.1,255,6253,0.00,2.12,0.00,0.000,516,0.000,0.041,3253,610,1348,1458,1238,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6334,1.28,243.3,3253,610,1458,1238,547.5,23.5,259,6340,0.00,2.10,0.00,0.000,1030,0.000,0.031,3253,2008,1348,1458,1238,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6660,1.28,243.3,3253,2008,1457,1237,472.7,22.9,275,6666,0.00,2.15,0.00,0.000,516,0.000,0.040,3265,609,1347,1457,1237,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6706,1.28,243.3,3264,609,1457,1237,462.3,22.5,277,6713,0.12,2.10,0.00,0.000,5126,0.171,0.031,3233,2001,1347,1457,1237,0,0,0,0,0,0,26.20,26.49,28.83
$GC,7033,1.28,243.3,3233,2001,1456,1236,389.0,22.8,293,7039,0.00,2.17,0.00,0.000,260,0.000,0.046,3233,3402,1346,1456,1236,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7088,1.28,243.3,3233,3402,1456,1236,378.3,22.7,295,7094,0.00,2.08,0.00,0.000,1030,0.000,0.029,3243,2001,1346,1456,1236,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7403,1.28,243.3,3244,2001,1455,1234,309.3,18.8,311,7409,0.00,2.12,0.00,0.000,516,0.000,0.041,3255,610,1345,1455,1235,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7458,1.28,243.3,3255,610,1454,1235,299.6,20.3,313,7464,0.00,2.08,0.00,0.000,1030,0.000,0.031,3255,1998,1344,1454,1235,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7773,1.28,243.3,3255,1997,1453,1234,231.3,20.2,329,7779,0.00,2.17,0.00,0.000,260,0.000,0.046,3255,3402,1343,1453,1234,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8004,1.28,243.3,3255,3402,1453,1234,184.0,19.8,340,8011,0.12,2.10,0.00,0.000,5126,0.173,0.028,3234,1991,1343,1452,1234,0,0,0,0,0,0,26.22,26.55,28.83
$GC,8331,1.28,243.3,3234,1989,1452,1232,129.1,15.6,356,8337,0.00,2.10,0.00,0.000,516,0.000,0.039,3245,607,1342,1453,1232,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8377,1.28,243.3,3245,607,1452,1232,122.8,14.1,358,8383,0.00,2.08,0.00,0.000,1030,0.000,0.031,3245,2008,1342,1453,1232,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8703,1.28,243.3,3245,2008,1453,1232,82.9,12.4,374,8709,0.00,2.12,0.00,0.000,516,0.000,0.039,3257,610,1342,1453,1232,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8853,1.28,243.3,3256,610,1453,1232,63.9,13.0,381,8859,0.00,2.05,0.00,0.000,1030,0.000,0.030,3257,1999,1342,1453,1232,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9167,1.28,243.3,3256,2000,1453,1232,27.2,11.4,406,9173,0.00,2.15,0.00,0.000,260,0.000,0.044,3257,3402,1342,1453,1232,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,9388,end climb,SURFACE_DEPTH_REACHED
$STATE,9388,begin surface coast
$FINISH,0.4,1.014038
$STATE,9417,end surface coast,CONTROL_FINISHED_OK
$STATE,9417,begin surface
$SM_CCo,9437,73.88,0.060,0,0,748,400.08
$SM_GC,1.42,8.05,1.35,73.88,0.037,0.028,0.060,131,2493,748,-8.30,1.89,400.08,0,0,0,0,0,0,26.56,26.62,26.29
$IRIDIUM_FIX,2305.10,12200.57,030413,000031
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.47
$INTERNAL_PRESSURE,9.66204
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3935200
$24V_AH,24.2,39.201
$10V_AH,10.2,26.114
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.100,80.525,756.250,73.875,0.000,0.000,0.000,183.525,0.000,0.000,17.103,1824.967,5427.303,786.509,1485.976,328.044,0.000,1771.639,0.000,1226.220,0.000,0.538,0.000
$DEVICE_MAMPS,221.850,66.555,739.755,59.670,0.000,0.000,0.000,124.695,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9429.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.144,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16762,451
$CAP_FILE_SIZE,253463,0
$CFSIZE,260034560,227061760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030413,055315,2319.007,12201.060,6,3.0,26,-3.1